#ifndef __APP_H
#define __APP_H	
extern unsigned char speed_Incremental_PI_2_flag;
extern int last_bias_x,last_bias_y;
int angle_Incremental_Place_PID_2 ( float Kp, float Ki,float Kd,float Encoder,float Target ,float both_pid,unsigned char *i_flag);	
int angle_Incremental_Place_PID_1 ( float Kp, float Ki,float Kd,float Encoder,float Target ,float both_pid,unsigned char *i_flag);					
float date_speed_Incremental_PID ( float Kp, float Ki,float Encoder,float Target);
float angle_Incremental_Place_PID_debuf ( float Kp, float Ki,float Kd,float Encoder,float Target );	
#endif
